LPE rate and stddev changes for mocap/vision. (#5467)

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -34,10 +34,11 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	_sub_manual(ORB_ID(manual_control_setpoint), 1000 / 2, 0, &getSubscriptions()),
 	// gps 10 hz
 	_sub_gps(ORB_ID(vehicle_gps_position), 1000 / 10, 0, &getSubscriptions()),
-	// vision 5 hz
-	_sub_vision_pos(ORB_ID(vision_position_estimate), 1000 / 5, 0, &getSubscriptions()),
+	// vision 30 hz
+	_sub_vision_pos(ORB_ID(vision_position_estimate), 1000 / 30, 0, &getSubscriptions()),
+	// mocap 50 hz
+	_sub_mocap(ORB_ID(att_pos_mocap), 1000 / 50, 0, &getSubscriptions()),
 	// all distance sensors, 10 hz
-	_sub_mocap(ORB_ID(att_pos_mocap), 1000 / 10, 0, &getSubscriptions()),
 	_sub_dist0(ORB_ID(distance_sensor), 1000 / 10, 0, &getSubscriptions()),
 	_sub_dist1(ORB_ID(distance_sensor), 1000 / 10, 1, &getSubscriptions()),
 	_sub_dist2(ORB_ID(distance_sensor), 1000 / 10, 2, &getSubscriptions()),

src/modules/local_position_estimator/params.c

@@ -251,11 +251,11 @@ PARAM_DEFINE_INT32(LPE_VIS_ON, 1);
  *
  * @group Local Position Estimator
  * @unit m
- * @min 0.01
+ * @min 0.0001
  * @max 1
- * @decimal 3
+ * @decimal 4
  */
-PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
+PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.001f);
 
 /**
  * Position propagation noise density